BASIC commands
PROGRAMMING MANUAL 149
Revision 3.0
3.2.278 VRSTRING
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3.2.279 WA
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Example A transfer gantry has 10 put down positions in a row. Each position may at
any time be full or empty. VR(101) to VR(110) are used to hold an array of ten
1 ' s and 0 ' s to signal that the positions are full (1) or empty (0). The gantry
puts the load down in the first free position. Part of the program to achieve this
would be as follows:
movep:
MOVEABS(115) ' Move to first put down position
FOR VR(0) = 101 TO 110
IF (VR(VR(0)) = 0) THEN GOSUB load
MOVE(200) ' 200 is spacing between positions
NEXT VR(0)
PRINT "All positions are full"
WAIT UNTIL IN(3) = ON
GOTO movep
load: ' Put load in position and mark array
OP(15,OFF)
VR(VR(0)) = 1
RETURN
The variables are backed up by a battery so the program here could be
designed to store the state of the machine when the power is off. It would of
course be necessary to provide a means of resetting completely following
manual intervention.
Example loop: ' Assign VR(65) to VR(0) multiplied by axis 1 measured position
VR(65) = VR(0)*MPOS AXIS(1)
PRINT VR(65)
GOTO loop
See also CLEAR_BIT, READ_BIT, SET_BIT, TABLE.
Type System command
Syntax VRSTRING(vr_start)
Description Combines the contents of an array of VR() variables so that they
can be printed as a text string. All printable characters will be out-
put and the string will terminate at the first null character found. (i.e.
VR(n) contains 0)
Arguments • vr_start
number of first VR() in the character array.
Example PRINT #5,VRSTRING(100)
See also N/A
Type System command
Syntax WA(time)
Description The WA command pauses program execution for the number of
milliseconds specified for time. The command can only be used in
a program.
Arguments • time
The number of milliseconds to hold program execution.
Example The following lines would turn ON output 7 two seconds after turn-
ing off output 1.
OP(1,OFF)
WA(2000)
OP(7,ON)
See also N/A
I52E-EN-03.book Seite 149 Freitag, 29. Juni 2007 11:55 11
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